U.S. patent application number 15/755112 was filed with the patent office on 2018-08-30 for remote-control manipulator system and method of operating the same.
This patent application is currently assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA. The applicant listed for this patent is KAWASAKI JUKOGYO KABUSHIKI KAISHA. Invention is credited to Yasuhiko HASHIMOTO, Masayuki KAMON.
Application Number | 20180243919 15/755112 |
Document ID | / |
Family ID | 58099621 |
Filed Date | 2018-08-30 |
United States Patent
Application |
20180243919 |
Kind Code |
A1 |
HASHIMOTO; Yasuhiko ; et
al. |
August 30, 2018 |
REMOTE-CONTROL MANIPULATOR SYSTEM AND METHOD OF OPERATING THE
SAME
Abstract
A remote-control manipulator system which includes a
manipulator, a slave arm installed in a workspace and configured to
perform a series of works comprised of a plurality of processes, a
situation information acquisition device configured to acquire
situation information indicating a situation of the slave arm, an
environment reproducing device configured to reproduce, in a space
where the manipulator is installed, environment information
relating to an environment in the workspace, and a control device.
The control device is configured to cause the environment
reproducing device to reproduce the environment information
corresponding to the situation information outputted from the
situation information acquisition device.
Inventors: |
HASHIMOTO; Yasuhiko;
(Kobe-shi, JP) ; KAMON; Masayuki; (Akashi-shi,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KAWASAKI JUKOGYO KABUSHIKI KAISHA |
Kobe-shi, Hyogo |
|
JP |
|
|
Assignee: |
KAWASAKI JUKOGYO KABUSHIKI
KAISHA
Kobe-shi, Hyogo
JP
|
Family ID: |
58099621 |
Appl. No.: |
15/755112 |
Filed: |
May 27, 2016 |
PCT Filed: |
May 27, 2016 |
PCT NO: |
PCT/JP2016/002589 |
371 Date: |
February 26, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05B 2219/40139
20130101; G05B 2219/40169 20130101; G05B 2219/40195 20130101; Y10S
901/09 20130101; B23Q 15/12 20130101; B25J 13/02 20130101; A61B
34/37 20160201; B25J 3/00 20130101; B25J 9/0081 20130101; Y10S
901/27 20130101; G05B 2219/39102 20130101; G05B 2219/39533
20130101; G05B 2219/40142 20130101; B25J 19/04 20130101; B25J
11/008 20130101; G05B 2219/40183 20130101; G06F 3/017 20130101;
H04N 7/181 20130101; B25J 9/1646 20130101; G05B 2219/40162
20130101; G06T 7/62 20170101; B25J 13/087 20130101; B25J 13/088
20130101; G05B 2219/39439 20130101; B25J 3/04 20130101; G05B
19/4182 20130101; G05B 2219/40163 20130101; B25J 9/1602 20130101;
G05B 2219/40134 20130101; B23P 19/04 20130101; B25J 9/1682
20130101; B25J 13/00 20130101; B25J 9/1674 20130101; Y10S 901/46
20130101; B25J 9/1633 20130101; B25J 13/025 20130101; G05B
2219/35464 20130101; G05B 2219/39004 20130101; G05B 2219/40145
20130101; G05B 2219/40182 20130101; G05B 2219/40387 20130101; G06T
7/70 20170101; Y10S 901/10 20130101; G05B 2219/40022 20130101; B25J
9/1653 20130101; B25J 9/1669 20130101; B25J 9/1689 20130101; B25J
13/085 20130101; Y10S 901/03 20130101; B25J 13/08 20130101; Y10S
901/47 20130101; B25J 13/006 20130101; B25J 9/163 20130101; B25J
13/065 20130101; B25J 9/1664 20130101; G05B 2219/40143 20130101;
B25J 9/1697 20130101; B25J 19/023 20130101; B25J 9/1628 20130101;
B25J 13/003 20130101; G05B 2219/39531 20130101; G05B 2219/40136
20130101; G05B 2219/40146 20130101; B23P 21/00 20130101; B25J
13/084 20130101; B25J 18/00 20130101; B25J 19/028 20130101; B25J
9/0084 20130101; B25J 9/0087 20130101; G05B 2219/40627 20130101;
G05B 2219/33007 20130101; G05B 2219/40161 20130101; Y10S 901/02
20130101; B23P 21/002 20130101; B25J 9/161 20130101; B25J 13/06
20130101; G05B 2219/37297 20130101; H04N 5/23219 20130101; A61B
34/32 20160201; B25J 9/1612 20130101; Y10S 901/08 20130101; Y10S
901/41 20130101 |
International
Class: |
B25J 13/06 20060101
B25J013/06; B23P 19/04 20060101 B23P019/04; B25J 19/04 20060101
B25J019/04; B25J 13/08 20060101 B25J013/08; B25J 3/00 20060101
B25J003/00 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 25, 2015 |
JP |
2015-165479 |
Claims
1. A remote-control manipulator system, comprising: a manipulator
configured to receive a manipulating instruction from an operator;
a slave arm installed in a workspace and configured to perform a
series of works comprised of a plurality of processes; a situation
information acquisition device configured to acquire situation
information indicating a situation of the slave arm in the
workspace; an environment reproducing device configured to
reproduce, in a space where the manipulator is installed,
environment information relating to an environment in the
workspace; and a control device, wherein the control device is
configured to cause the environment reproducing device to reproduce
the environment information corresponding to the situation
information outputted from the situation information acquisition
device.
2. The remote-control manipulator system of claim 1, further
comprising a storage device storing the environment information,
wherein the control device is configured to acquire from the
storage device the environment information corresponding to the
situation information outputted from the situation information
acquisition device.
3. The remote-control manipulator system of claim 1, further
comprising a storage device storing work information relating to
each process that the slave arm performs, wherein the control
device is configured to identify the process currently executed by
the slave arm and cause the environment reproducing device to
reproduce, as the environment information, the work information
relating to the process subsequent to the identified process, in
the space where the manipulator is installed.
4. The remote-control manipulator system of claim 1, wherein the
situation information is at least one of information in a group
comprised of image information in the workspace, information on
sound generated in the workspace, information on smell generated in
the workspace, information on light generated in the workspace,
information on a temperature in the workspace, and information on
vibration generated in the workspace.
5. The remote-control manipulator system of claim 1, wherein the
environment information is at least one of information in a group
comprised of image information in the workspace, information on
sound generated in the workspace, information on smell generated in
the workspace, illumination information, information on a
temperature in the workspace, information on vibration generated in
the workspace, and information on an operator's posture.
6. The remote-control manipulator system of claim 3, wherein the
work information is at least one of information in a group
comprised of image information in the workspace, information on
sound generated in the workspace, information on smell generated in
the workspace, illumination information, information on a
temperature in the workspace, information on vibration generated in
the workspace, and information on an operator's posture.
7. The remote-control manipulator system of claim 1, wherein a
plurality of slave arms are installed, and wherein the control
device is configured, when the operation of the slave arm is
switched by the manipulator, to cause the situation information
acquisition device to acquire the situation information.
8. The remote-control manipulator system of claim 1, further
comprising an instruction acquisition device configured to receive
an acquiring instruction for the situation information from the
operator and output the acquiring instruction to the control
device, wherein the control device is configured, when the
acquiring instruction is inputted from the instruction acquisition
device, to cause the situation information acquisition device to
acquire the situation information.
9. The remote-control manipulator system of claim 1, wherein the
control device is configured, when at least one process out of the
plurality of processes is to be started or once at least one
process is ended, to cause the situation information acquisition
device to acquire the situation information.
10. A method of operating a remote-control manipulator system
including a manipulator configured to receive a manipulating
instruction from an operator, and a slave arm installed in a
workspace and configured to perform a series of works comprised of
a plurality of processes, comprising: (A) acquiring situation
information indicating a situation of the slave arm in the
workspace; and (B) causing an environment reproducing device to
reproduce environment information corresponding to the situation
information acquired in the acquiring (A), in a space where the
manipulator is installed.
11. The method of operating the remote-control manipulator system
of claim 10, wherein the remote-control manipulator system further
includes a storage device storing the environment information,
further comprising (B1) acquiring from the storage device the
environment information corresponding to the situation information
outputted from the situation information acquisition device,
wherein the causing (B) includes causing the environment
reproducing device to reproduce the environment information
acquired by the acquiring (B1).
12. The method of operating the remote-control manipulator system
of claim 10, wherein the remote-control manipulator system further
includes a storage device storing work information relating to each
process that the slave arm performs, further comprising (A1)
identifying a process currently executed by the slave arm, wherein
the causing (B) includes causing the environment reproducing device
to reproduce, as the environment information, work information
relating to the process subsequent to the process identified in the
identifying (A1).
13. The method of operating the remote-control manipulator system
of claim 10, wherein the situation information is at least one of
information in a group comprised of image information in the
workspace, information on sound generated in the workspace,
information on smell generated in the workspace, information on
light generated in the workspace, information on a temperature in
the workspace, and information on vibration generated in the
workspace.
14. The method of operating the remote-control manipulator system
of claim 10, wherein the environment information is at least one of
information in a group comprised of image information in the
workspace, information on sound generated in the workspace,
information on smell generated in the workspace, illumination
information, information on a temperature in the workspace,
information on vibration generated in the workspace, and
information on an operator's posture.
15. The method of operating the remote-control manipulator system
of claim 12, wherein the work information is at least one of
information in a group comprised of image information in the
workspace, information on sound generated in the workspace,
information on smell generated in the workspace, illumination
information, information on a temperature in the workspace,
information on vibration generated in the workspace, and
information on an operator's posture.
16. The method of operating the remote-control manipulator system
of any claim 10, wherein a plurality of slave arms are installed,
and wherein the acquiring (A) is executed when the operation of the
slave arm is switched by the manipulator.
17. The method of operating the remote-control manipulator system
of claim 10, wherein the remote-control manipulator system further
includes an instruction acquisition device configured to receive an
acquiring instruction for the situation information from the
operator and output the acquiring instruction, and wherein the
acquiring (A) is executed when the acquiring instruction is
outputted from the instruction acquisition device.
18. The method of operating the remote-control manipulator system
of claim 10, wherein the acquiring (A) is executed when at least
one process out of the plurality of processes is to be started or
once at least one process is ended.
Description
TECHNICAL FIELD
[0001] The present disclosure relates to a remote-control
manipulator system and a method of operating the same.
BACKGROUND ART
[0002] A master-slave type remote manipulation device which causes
operation of a master arm manipulated by an operator to follow
operation of a slave arm is known (e.g., see Patent Document
1).
[0003] The remote manipulation device disclosed in Patent Document
1 displays an actual image of a work target and a slave hand part
and also content of a current work item on a screen of a television
monitor. Thus, in manual operation, a control by a human is
prompted, an operator is able to understand the content of the
operation to be carried out and proceed the operation smoothly.
REFERENCE DOCUMENT OF CONVENTIONAL ART
[Patent Document]
[0004] [Patent Document 1] JP1987-199376A
DESCRIPTION OF THE DISCLOSURE
Problems to be Solved by the Disclosure
[0005] However, even with the remote manipulation device disclosed
in Patent Document 1, there is still a room for improvement in
order for the operator to intuitively grasp the situation of the
slave arm.
[0006] The present disclosure is for solving the conventional issue
and aims to provide a remote-control manipulator system and a
method of operating the same, with which a current situation of a
slave arm is able to be intuitively grasped and work efficiency is
able to be improved.
SUMMARY OF THE DISCLOSURE
[0007] In order to solve the conventional issue, a remote-control
manipulator system according to one aspect of the present
disclosure includes a manipulator configured to receive a
manipulating instruction from an operator, a slave arm installed in
a workspace and configured to perform a series of works comprised
of a plurality of processes, a situation information acquisition
device configured to acquire situation information indicating a
situation of the slave arm in the workspace, an environment
reproducing device configured to reproduce, in a space where the
manipulator is installed, environment information relating to an
environment in the workspace, and a control device. The control
device is configured to cause the environment reproducing device to
reproduce the environment information corresponding to the
situation information outputted from the situation information
acquisition device.
[0008] Thus, it is possible to intuitively grasp the situation of
the slave arm to be manipulated by displaying the environment
information, such as light, smell, sound, image, etc. to the
operator (particularly, skilled person). Therefore, it becomes
easier to focus on a remote-controlling work, mistakes of operation
are reduced, and fatigue of the operator is reduced. Moreover, work
efficiency of the remote control is improved.
[0009] A method of operating a remote-control manipulator system
according to another aspect of the present disclosure is a method
of operating a remote-control manipulator system including a
manipulator configured to receive a manipulating instruction from
an operator, and a slave arm installed in a workspace and
configured to perform a series of works comprised of a plurality of
processes. The method includes (A) acquiring situation information
indicating a situation of the slave arm in the workspace, and (B)
causing an environment reproducing device to reproduce environment
information corresponding to the situation information acquired in
the acquiring (A), in a space where the manipulator is
installed.
[0010] Thus, it is possible to intuitively grasp the situation of
the slave arm to be manipulated by displaying the environment
information, such as light, smell, sound, image, etc. to the
operator (particularly, skilled person). Therefore, it becomes
easier to focus on the remote-controlling work, mistakes of
operation are reduced, and fatigue of the operator is reduced.
Moreover, work efficiency of the remote control is improved.
Effect of the Disclosure
[0011] According to the remote-control manipulator system and the
method of operating the same of the present disclosure, it is
possible to intuitively grasp the situation of the slave arm to be
manipulated.
BRIEF DESCRIPTION OF DRAWINGS
[0012] FIG. 1 is a block diagram illustrating a schematic
configuration of a remote-control manipulator system according to a
first embodiment.
[0013] FIG. 2 is a schematic diagram illustrating a specific
example of an environment reproducing device of the remote
manipulator system illustrated in FIG. 1.
[0014] FIG. 3 is a flowchart illustrating operation of the
remote-control manipulator system according to the first
embodiment.
[0015] FIG. 4 is a block diagram illustrating a schematic
configuration of a remote-control manipulator system according to a
second embodiment.
[0016] FIG. 5 is a flowchart illustrating operation of the
remote-control manipulator system according to the second
embodiment.
[0017] FIG. 6 is a flowchart illustrating operation of a
remote-control manipulator system according to a third
embodiment.
[0018] FIG. 7 is a block diagram illustrating a schematic
configuration of a remote-control manipulator system according to a
fourth embodiment.
[0019] FIG. 8 is a flowchart illustrating operation of the
remote-control manipulator system according to the fourth
embodiment.
MODES FOR CARRYING OUT THE DISCLOSURE
[0020] Hereinafter, embodiments of the present disclosure will be
described with reference to the drawings. Note that, throughout the
drawings, the same reference characters are assigned to the same or
corresponding parts and redundant description is omitted. Further,
throughout the drawings, elements for describing the present
disclosure are selectively illustrated and illustration of the
other components may be omitted. Furthermore, the present
disclosure is not limited to the following embodiments.
First Embodiment
[0021] A remote-control manipulator system according to a first
embodiment includes a manipulator which receives a manipulating
instruction from an operator, a slave arm which is installed in a
workspace and performs a series of works comprised of a plurality
of processes, a situation information acquisition device which
acquires situation information indicating a situation of the slave
arm within the workspace, an environment reproducing device which
reproduces, in a space where the manipulator is installed,
environment information related to an environment in the workspace,
and a control device. The control device is configured to cause the
environment reproducing device to reproduce the environment
information corresponding to the situation information outputted
from the situation information acquisition device.
[0022] Moreover, the remote-control manipulator system according to
the first embodiment may further include a storage device storing
the environment information, and the control device may be
configured to acquire, from the storage device, the environment
information corresponding to the situation information outputted
from the situation information acquisition device.
[0023] Further, in the remote-control manipulator system according
to the first embodiment, the situation information may be at least
one of information in a group comprised of image information in the
workspace, information on sound generated in the workspace,
information on smell generated in the workspace, information on
light generated in the workspace, information on a temperature in
the workspace, and information on vibration generated in the
workspace.
[0024] Furthermore, in the remote-control manipulator system
according to the first embodiment, the environment information may
be at least one of information in a group comprised of the image
information in the workspace, the information on sound generated in
the workspace, the information on smell generated in the workspace,
illumination information, the information on a temperature in the
workspace, the information on vibration generated in the workspace,
and information on an operator's posture.
[0025] In addition, the remote-control manipulator system according
to the first embodiment may be installed with a plurality of slave
arms, and the control device may be configured, when operation of
the slave arm is switched by the manipulator, to cause the
situation information acquisition device to acquire the situation
information.
[0026] Hereinafter, one example of the remote-control manipulator
system according to the first embodiment is described with
reference to FIGS. 1 to 3.
[Configuration of Remote-Control Manipulator System]
[0027] FIG. 1 is a block diagram illustrating a schematic
configuration of the remote-control manipulator system according to
the first embodiment.
[0028] As illustrated in FIG. 1, the remote-control manipulator
system 100 according to the first embodiment includes a slave arm
1, a manipulator 2, a situation information acquisition device 3, a
control device 4, a storage device 5, and an environment
reproducing device 6, and it is configured so that the slave arm 1
is operated by an operator manipulating the manipulator 2.
[0029] The slave arm 1 is a robot which is installed in a workspace
and performs a series of works comprised of a plurality of
processes. Note that the series of works comprised of the plurality
of processes may include works, such as assembling of component(s)
to a product and painting.
[0030] The slave arm 1 according to the first embodiment is an
articulated robot, in a line production or a cell production, which
is utilized at a manufacturing plant where products are produced by
assembling electric and/or electronic components etc., is disposed
along a workbench provided to the manufacturing plant, and is
capable of performing at least one of works, such as transferring,
assembling or relocating of component(s), and converting the
posture, to workpiece(s) on the workbench. Note that the embodiment
of the slave arm 1 is not limited to the configuration described
above, but may be widely applied to any articulated robots,
regardless of a horizontal articulated type or a vertical
articulated type.
[0031] The manipulator 2 is a device which is installed outside the
workspace and receives a manipulating instruction from the
operator. The manipulator 2 may be, for example, a master arm, a
joystick, or a tablet computer. Note that the manipulator 2 may be
separately provided with an input part etc. which inputs a start
instruction of a work described later, a notice of completion of
the work by a manipulating operation (manual operation), etc.
Moreover, the manipulator 2 may be installed in the workspace.
[0032] The situation information acquisition device 3 acquires the
situation information indicating the situation of the slave arm 1
in the workspace. The situation information is at least one of
information in the group comprised of the image information in the
workspace, the information on sound generated in the workspace, the
information on smell generated in the workspace, the information on
light generated in the workspace, the information on the
temperature in the workspace, and the information on vibration
generated in the workspace.
[0033] Specifically, the image information in the workspace is
information on the slave arm 1 and its circumference in the
workspace captured as an image by a camera etc. More specifically,
the image information in the workspace is, for example, information
on the position or posture of the slave arm 1 in the workspace, a
spatial relationship between the slave arm 1 and a workpiece, or a
spatial relationship between the slave arm 1 and an assembled
component to which the workpiece is attached, recorded as an
image.
[0034] Further, the information on sound generated in the
workspace, the information on smell generated in the workspace, the
information on light generated in the workspace, the information on
the temperature in the workspace, and the information on vibration
generated in the workspace are information usable in confirming a
circumferential situation around the slave arm 1. The information
may include sound, smell and light which are generated when the
slave arm 1 is welding, and sound which is generated when the slave
arm 1 is painting, smell of the paint, color of the paint (light
reflected on the paint), etc. The information may also include
temperature variation information, such as a rise of the
temperature (room temperature) in the workspace due to the slave
arm 1 welding or a drop of the temperature in the workspace due to
the slave arm 1 cleaning the workpiece, and information on
vibration generated when the slave arm 1 attaches the workpiece to
the assembled component, etc.
[0035] The situation information acquisition device 3 may be, for
example, a sensor, an imaging device, a communication device, an
encoder, etc. The sensor may be, for example, a laser sensor or a
radar sensor etc. for measuring a distance to or a position of the
workpiece (assembling component) or the assembled component.
Moreover, the sensor may be a stereo camera etc. which is a sensor
for measuring a distance from the slave arm 1 to an object in its
circumference by using image data obtained from a plurality of
imaging devices. In addition, the sensor may be an odor sensor for
detecting smell generated in the workspace a microphone for picking
up sound, a temperature sensor for detecting the temperature in the
workspace, or a pressure sensor (vibration sensor) for detecting
vibration of the slave arm 1 or the workpiece.
[0036] The communication device may be a communication device for
acquiring information from a sensor installed at the workpiece
(assembling component), the assembled component, or a given
position in the workspace, and information from an imaging device.
The encoder may be, for example, an encoder capable of detecting a
moved amount or position of the slave arm.
[0037] The situation information acquisition device 3 may be
disposed to the slave arm 1 itself, or may be disposed at an
appropriate position in the workspace. Further, the number of
situation information acquisition devices 3 disposed may be one or
plural. The attaching position(s) and the attaching number are
arbitrary, as long as the suitable number of situation information
acquisition devices 3 are disposed at positions where situation
information is appropriately acquirable. Further, the situation
information acquisition device 3 sequentially acquires the
situation information, and the acquired situation information is
inputted to the control device 4, which will be described later,
and used for controlling the operation of the slave arm 1 in the
control device 4.
[0038] The storage device 5 is a readable and writable recording
medium, which stores operation sequence information 51 and
environment information 52 of the remote-control manipulator system
100. Note that, although in the remote-control manipulator system
100 according to the first embodiment, the storage device 5 is
provided separately from the control device 4, it may be integrally
provided with the control device 4.
[0039] The operation sequence information 51 is information related
to an operation sequence which defines the series of works to be
performed by the slave arm 1 in the workspace, and includes a
program for causing the slave arm 1 to perform an automatic
operation. Specifically, it is information where an operation
order, an operating mode of the slave arm 1 (operating mode), and
an operation flow of the operating mode are associated with each
other.
[0040] The environment information 52 is at least one of
information in a group comprised of the image information in the
workspace, the information on sound generated in the workspace, the
information on smell generated in the workspace, the information on
light generated in the workspace, the information on the
temperature in the workspace, the information on vibration
generated in the workspace, and the information on the operator's
posture.
[0041] Specifically, the image information in the workspace is
information on the slave arm 1 and its circumference in the
workspace captured as an image by the camera etc. and stored in the
storage device 5. More specifically, the image information in the
workspace is, for example, information on the position or posture
of the slave arm 1 in the workspace, a spatial relationship between
the slave arm 1 and the workpiece, or a spatial relationship
between the slave arm 1 and the assembled component to which the
workpiece is attached, recorded as an image.
[0042] Further, the information on sound generated in the
workspace, the information on smell generated in the workspace and
the information on light generated in the workspace are information
usable in confirming the circumference situation around the slave
arm 1. The information may include sound, smell and light which are
generated when the slave arm 1 performs welding, and sound which is
generated when the slave arm 1 is painting, smell of the paint,
color of the paint (light reflected on the paint), etc., and these
information is stored in the storage device 5.
[0043] Further, the information on the temperature in the
workspace, the information on vibration generated in the workspace,
and the information on the operator's posture are information
usable in confirming the circumference situation around the slave
arm 1. The information may include temperature variation
information, such as a rise of the temperature (room temperature)
in the workspace due to the slave arm 1 welding or a drop of the
temperature in the workspace due to the slave arm 1 cleaning the
workpiece, and information on vibration generated when the slave
arm 1 attaches the workpiece to the assembled component. Moreover,
the information may include information on posture which was taken
by the operator when the operator manually performed the work
currently executed by the slave arm 1. Moreover, these information
is stored in the storage device 5.
[0044] The control device 4 controls the operation of the slave arm
1, and includes a receiver 40, an environment information acquirer
41, a motion controller 42, and an output controller 43, as
functional blocks. The control device 4 may be comprised of, for
example, an arithmetic part (not illustrated), such as a
microcontroller, an MPU and a PLC (Programmable Logic Controller),
a logic circuit, etc., and a memory part (not illustrated), such as
a ROM or a RAM. Moreover, each functional block provided to the
control device 4 is implementable by the arithmetic part of the
control device 4 reading and executing the program stored in the
memory part or the storage device 5.
[0045] Note that the control device 4 may not only be in a form
comprised of a single control device, but also in a form comprised
of a group of control devices in which a plurality of control
devices collaborate with each other to execute the control of the
slave arm 1 (remote-control manipulator system 100).
[0046] The receiver 40 receives an input signal transmitted from
the outside of the control device 4. The input signal received by
the receiver 40 may be, for example, a signal transmitted from the
manipulator 2, a signal transmitted from a manipulating instruction
part (not illustrated) other than the manipulator 2, or a signal
indicating the situation information transmitted from the situation
information acquisition device 3, etc.
[0047] The environment information acquirer 41 acquires, from the
environment information 52 stored in the storage device 5,
environment information corresponding to the situation information
received by the receiver 40 from the situation information
acquisition device 3, and outputs the environment information to
the motion controller 42. The environment information corresponding
to the situation information received from the situation
information acquisition device 3 may be, for example, when the
slave arm 1 is painting, a pre-captured image in the workspace, a
pre-created image, such as an animation, a pre-recorded spray
sound, the smell of the paint used for painting, or the color of
the paint.
[0048] When the receiver 40 receives a manipulating instruction
from the manipulator 2 as the input signal, the motion controller
42 determines the operating mode of the process which the slave arm
1 carries out in the series of works by using the manipulating
instruction as a trigger. The motion controller 42 is capable of
performing the determination of the operating mode of the process
which the slave arm 1 carries out next, with reference to the
operation sequence information 51 stored in the storage device 5.
Once the motion controller 42 determines the operating mode, it
controls the slave arm 1 so that the slave arm 1 is operated in the
determined operating mode.
[0049] If the motion controller 42 determines that the slave arm 1
is to be automatically operated, it reads the operation sequence
information 51, and controls the slave arm 1 to perform the
operation defined by the program contained in the operation
sequence information 51.
[0050] On the other hand, if the motion controller 42 determines
that the slave arm 1 is to be manipulated to operate, it controls
the slave arm 1 to perform the operation based on the manipulating
instruction received from the manipulator 2 by the receiver 40.
Note that, when the slave arm 1 is to be automatically operated,
once the automatic operation of the slave arm 1 is ended, the
motion controller 42 transmits information indicating that the
automatic operation is ended to the output controller 43.
[0051] Further, in at least one of the plurality of processes when
starting one of the automatic operation and the manipulating
operation, during the automatic operation, when one of the
automatic operation and the manipulating operation is ended, or
when an acquiring instruction for the situation information is
inputted from an instruction acquisition device 7 described later,
the motion controller 42 outputs the environment information 52
outputted from the environment information acquirer 41 to the
output controller 43. Note that in each process, the motion
controller 42 may output the environment information 52 to the
output controller 43 when starting one of the automatic operation
and the manipulating operation, during the automatic operation, or
when one of the automatic operation and the manipulating operation
is ended. Further, the motion controller 42 may acquire, instead of
the environment information 52 which is outputted from the
environment information acquirer 41, the situation information
outputted from the situation information acquisition device 3 via
the receiver 40, and output the situation information to the output
controller 43 as the environment information.
[0052] The output controller 43 controls the environment
reproducing device 6 to output information to be notified to the
operator etc. For example, when the output controller 43 receives
the information indicating the start of the automatic operation
from the motion controller 42, or the information indicating the
start of the manipulating operation from the manipulator 2 via the
motion controller 42 and the receiver 40, it may control the
environment reproducing device 6 to output this information and,
additionally, the environment information 52 or the situation
information. Further, the output controller 43 may control the
environment reproducing device 6 to output the environment
information 52 or the situation information while the motion
controller 42 is executing the automatic operation. Furthermore,
when the output controller 43 receives the information indicating
the end of the automatic operation from the motion controller 42,
or the output controller 43 receives the information indicating the
end of the manipulating operation from the manipulator 2 via the
motion controller 42 and the receiver 40, it may control the
environment reproducing device 6 to output this information and
additionally, the environment information 52 or the situation
information.
[0053] The environment reproducing device 6 is provided at a
position where the operator of the manipulator 2 is able to sense
the outputted information (outside the workspace; the space where
the manipulator 2 is installed), and outputs the information
transmitted from the control device 4. Further, the environment
reproducing device 6 outputs the notification of the end of the
automatic operation of the slave arm 1 by displaying, expressing
with sound or light, etc.
[0054] Here, a specific example of the environment reproducing
device 6 will be described in detail with reference to FIG. 2.
[0055] FIG. 2 is a schematic diagram illustrating the specific
example of the environment reproducing device of the remote
manipulator system illustrated in FIG. 1.
[0056] As illustrated in FIG. 2, the environment reproducing device
6 may include a display device 61, such as a monitor, a speaker 62,
a spray can 63, a lighting device 64, a desk 21, a chair 22, a
vibration device 65 which vibrates the manipulator 2, a posture
changing device 66 which changes (tilts) postures of the desk 21,
the chair 22, or the manipulator 2, an air conditioner 67, etc.
When the environment reproducing device 6 is constituted by the
display device 61, it displays the information transmitted from the
control device 4 as an image, for example, letter(s), a painting, a
picture, a video, etc. When the environment reproducing device 6 is
constituted by the speaker 62, it outputs the information
transmitted from the control device 4 as a sound.
[0057] Further, when the environment reproducing device 6 is
constituted by the spray can 63, an odor component is filled in a
container in advance, and the information transmitted from the
control device 4 is outputted as smell. Specifically, for example,
when the slave arm 1 is painting, the odor component of the paint
used for the painting may be filled in the container, and then the
spray can 63 may release the odor component once the environment
information is outputted from the control device 4.
[0058] Further, when the environment reproducing device 6 is
constituted by the lighting device 64, it reproduces the situation
of the slave arm 1 by outputting the information transmitted from
the control device 4 as light. Specifically, for example, when the
slave arm 1 is welding, the lighting device 64 may output (radiate)
the color of the light generated in welding, and may output the
light so that it blinks. Further, when the slave arm 1 is painting,
the lighting device 64 may output the color of the paint.
Furthermore, the color to be outputted for the process currently
executed by the slave arm 1 may be decided in advance and the
lighting device 64 may output the color.
[0059] Further, when the environment reproducing device 6 is
constituted by the vibration device 65, it outputs the information
transmitted from the control device 4 as vibration. Specifically,
for example, the vibration device 65 vibrates the manipulator 2
which the operator is currently manipulating, the desk 21 on which
the manipulator 2 is disposed, or the chair 22 on which the
operator is sitting.
[0060] Further, when the environment reproducing device 6 is
constituted by the posture changing device 66, it outputs the
information transmitted from the control device 4 as posture
information. Specifically, for example, the posture changing device
6 tilts a top plate of the desk 21 on which the manipulator 2 is
disposed or the chair 22 on which the operator is sitting. Thus,
the operator takes the posture which the operator takes when
manually executing the process currently executed by the slave arm
1, and the operator is able to grasp the process currently executed
by the slave arm 1.
[0061] Furthermore, when the environment reproducing device 6 is
constituted by the air conditioner 67, it outputs the information
transmitted from the control device 4 as a temperature.
Specifically, the air conditioner 67 adjusts the temperature in the
space where the manipulator 2 is disposed. For example, when the
slave arm 1 is welding, the air conditioner 67 is operated to raise
the temperature in the space where the manipulator 2 is
disposed.
[Operation and Effect of Remote-Control Manipulator System]
[0062] Next, operation and effect of the remote-control manipulator
system 100 according to the first embodiment are described with
reference to FIGS. 1 to 3. Note that since the operation of
performing the series of works by the operator manipulating the
manipulator 2 to operate the slave arm 1 is executed similar to a
known remote-control manipulator system, detailed description
thereof is omitted. Moreover, the following operation is executed
by the arithmetic part of the control device 4 reading the program
stored in the memory part or the storage device 5.
[0063] FIG. 3 is a flowchart illustrating operation of the
remote-control manipulator system 100 according to the first
embodiment.
[0064] As illustrated in FIG. 3, the control device 4 determines
whether the operator has switched the operation of the slave arm 1
(Step S101).
[0065] Specifically, the motion controller 42 of the control device
4 determines whether the information indicating that the operation
is switched from a certain slave arm 1 to another slave arm 1 or
information indicating that the slave arm 1 in the automatic
operation is switched to be in the manipulating operation, that is,
information on a manipulation start instruction for a given slave
arm 1, is inputted from the manipulator 2 via the receiver 40.
[0066] If the motion controller 42 of the control device 4
determines that the information on the manipulation start
instruction is not inputted (NO at Step S101), it ends this
program. Note that, when the control device 4 ends this program, it
again executes this program, for example, after 50 msec. On the
other hand, if the motion controller 42 of the control device 4
determines that the information on the manipulation start
instruction is inputted (YES at Step S101), it executes processing
illustrated at Step S102.
[0067] At Step S102, the control device 4 acquires the situation
information acquired by the situation information acquisition
device 3. Specifically, for the given slave arm 1, the receiver 40
receives the situation information acquired by the situation
information acquisition device 3, and the motion controller 42
acquires the received situation information. Note that, the motion
controller 42 may acquire, when the given slave arm 1 is
automatically operated, the information on the process currently
executed by the given slave arm 1 or, when the given slave arm 1 is
in a manipulating instruction input standby state (manipulation
standby state), the information on the process executed immediately
previously, as the situation information from the motion controller
42. In this case, the motion controller 42 constitutes the
situation information acquisition device.
[0068] Next, the control device 4 acquires the environment
information corresponding to the situation information acquired at
Step S102 from the environment information 52 in the storage device
5 (Step S103). Specifically, the motion controller 42 of the
control device 4 outputs the situation information acquired at Step
S102 to the environment information acquirer 41.
[0069] The environment information acquirer 41 acquires the
environment information 52 from the storage device 5, selects the
environment information corresponding to the inputted situation
information from the environment information 52 in the storage
device 5, and outputs it to the motion controller 42.
[0070] Next, the control device 4 outputs the environment
information acquired at Step S103 to the environment reproducing
device 6 (Step S104). Specifically, the motion controller 42 of the
control device 4 outputs the environment information acquired at
Step S103 to the environment reproducing device 6 via the output
controller 43.
[0071] Thus, the environment reproducing device 6 is capable of
reproducing the environment information corresponding to the
situation of the given slave arm 1 and notifying it to the
operator. Specifically, for example, when the slave arm 1 is
executing the painting process or the painting process is ended,
the environment reproducing device 6 may output the image of the
slave arm 1 painting, output the spray sound generated when
painting, or output (emit) from the lighting device the color of
the paint used for the painting. Further, for example, when the
slave arm 1 is executing the painting process or the painting
process is ended, the environment reproducing device 6 may vibrate
the manipulator 2 etc., tilt the chair 22 etc. which is currently
used by the operator, or raise the temperature in the space where
the manipulator 2 is disposed.
[0072] Here, when the situation information acquired by the
situation information acquisition device 3 is image information,
the environment reproducing device 6 may reproduce the image
information stored in the storage device 5 as the environment
information, reproduce information other than the image information
(e.g., sound information), or reproduce the image information and
the information other than the image information.
[0073] In the remote-control manipulator system 100 according to
the first embodiment configured as described above, when the
operator manipulates the manipulator 2 to switch the operation of
the slave arm 1, the environment reproducing device 6 reproduces
the environment information corresponding to the situation of the
given slave arm 1 which is switched. Thus, the operator can grasp
the situation of the slave arm 1 intuitively and with realistic
sensation. Therefore, the operator can easily call up the process
which the slave arm 1 executes next.
[0074] Further, since the situation of the slave arm 1 can be
grasped even if the slave arm 1 of which operation is switched is
in the automatic operation, it is possible to provide a
remote-control manipulator system with excellent usability.
[0075] Particularly, when the operator is a skilled worker, by the
environment reproducing device 6 reproducing the environment
information corresponding to the situation of the given slave arm
1, the process which the slave arm 1 executes next is easily called
up.
[0076] Therefore, in the remote-control manipulator system 100
according to the first embodiment, the operator becomes easier to
focus on the remote-controlling work, mistakes of operation are
reduced, and fatigue of the operator is reduced. Moreover, the work
efficiency of the remote control is improved.
[0077] Note that in the first embodiment, although a form in which
the control device 4 selects the environment information
corresponding to the situation information on the slave arm 1 from
the environment information 52 stored in the storage device 5 and
the environment reproducing device 6 reproduces it, is adopted, it
is not limited to this. For example, when the operator manipulates,
while the slave arm 1 is in the automatic operation, the
manipulator 2 to switch the operation so that the slave arm 1 is
manipulated, or when the slave arm 1 is performing the automatic
operation, a form in which the situation information acquired by
the situation information acquisition device 3 may be outputted as
the environment information and the environment reproducing device
6 directly reproduces it in real time may be adopted.
Second Embodiment
[0078] A remote-control manipulator system according to the second
embodiment is configured so that, in the remote-control manipulator
system according to the first embodiment, an instruction
acquisition device which receives an acquiring instruction for the
situation information from the operator and outputs the acquiring
instruction to the control device is further provided, and the
control device causes the situation information acquisition device
to acquire the situation information upon receiving the acquiring
instruction from the instruction acquisition device.
[0079] Hereinafter, one example of the remote-control manipulator
system according to the second embodiment is described in detail
with reference to FIGS. 4 and 5.
[Configuration of Remote-Control Manipulator System]
[0080] FIG. 4 is a block diagram illustrating a schematic
configuration of the remote-control manipulator system according to
the second embodiment.
[0081] As illustrated in FIG. 4, the remote-control manipulator
system 100 according to the second embodiment has the same basic
configuration to the remote-control manipulator system 100
according to the first embodiment, but it is different in that an
instruction acquisition device 7 is further provided.
[0082] The instruction acquisition device 7 is disposed outside the
workspace and configured to receive an acquiring instruction for
acquiring the situation of a given slave arm 1 from the operator
and output the acquiring instruction to the control device 4. For
example, when a plurality of slave arms 1 are disposed in the
workspace, the instruction acquisition device 7 may be configured
to output an acquiring instruction for each slave arm 1, or may be
configured to output an acquiring instruction for an arbitrary
slave arm 1.
[0083] Note that the instruction acquisition device 7 may be
disposed in the workspace. Further, the instruction acquisition
device 7 may be disposed separately from the manipulator 2 or
formed integrally with the manipulator 2.
[Operation and Effect of Remote-Control Manipulator System]
[0084] Next, operation and effect of the remote-control manipulator
system 100 according to the second embodiment are described with
reference to FIGS. 4 and 5. Note that, the following operation is
executed by the arithmetic part of the control device 4 reading the
program stored in the memory part or the storage device 5.
[0085] FIG. 5 is a flowchart illustrating operation of the
remote-control manipulator system according to the second
embodiment.
[0086] As illustrated in FIG. 5, although the operation of the
remote-control manipulator system 100 according to the second
embodiment is basically the same as the operation of the
remote-control manipulator system 100 according to the first
embodiment, it is different in that Step S101A is executed instead
Step S101.
[0087] Specifically, the control device 4 determines whether the
acquiring instruction is inputted from the instruction acquisition
device 7 (Step S101A). More specifically, the motion controller 42
of the control device 4 determines whether the acquiring
instruction is inputted for the given slave arm 1 from the
instruction acquisition device 7 via the receiver 40.
[0088] Here, the case where it is determined that the acquiring
instruction is inputted means a case where that the instruction
acquisition device 7 receives an acquiring instruction for
acquiring the situation of the given slave arm 1 from the operator,
and the instruction acquisition device 7 outputs the acquiring
instruction to the receiver 40 of the control device 4 and the
motion controller 42 acquires the acquiring instruction via the
receiver 40.
[0089] If the motion controller 42 of the control device 4
determines that the acquiring instruction is not inputted (NO at
Step S101A), it ends this program. Note that, when the control
device 4 ends this program, it again executes this program, for
example, after 50 msec.
[0090] On the other hand, if the motion controller 42 of the
control device 4 determines that the acquiring instruction is
inputted (YES at Step S101A), it executes processing illustrated at
Step S102. Hereinafter, the operation similar to that of the
remote-control manipulator system 100 according to the first
embodiment is executed.
[0091] In the remote-control manipulator system 100 according to
the second embodiment configured as described above, the operator
manipulates the instruction acquisition device 7, so that the
environment reproducing device 6 reproduces the environment
information corresponding to the situation of the given slave arm
1. Thus, the operator can grasp the situation of the slave arm 1
intuitively and with realistic sensation. Therefore, the operator
can easily call up the process which the slave arm 1 executes
next.
[0092] For example, in a case where a plurality of slave arms 1 are
disposed in the workspace, when the operator causes the manipulator
2 to execute the manipulation on the given slave arm 1, by the
environment reproducing device 6 reproducing the environment
information corresponding to the situation of the slave arm 1, it
is possible to easily grasp the situation of the slave arm 1.
[0093] Further, even in a case where a single slave arm 1 is
disposed in the workspace, when the operator is working away from
the manipulator 2 and, upon ending the automatic operation of a
certain process of the slave arm 1, the next process is started, by
the environment reproducing device 6 reproducing the environment
information corresponding to the situation of the slave arm 1, it
is possible to easily grasp the situation of the slave arm 1.
[0094] Note that in the second embodiment, although a form in which
the environment information corresponding to the situation
information on the slave arm 1 is selected from the environment
information 52 stored in the storage device 5 and the environment
reproducing device 6 reproduces it, is adopted, it is not limited
to this. For example, a form in which, when the operator instructs
the acquisition of the situation information on the slave arm 1
while the slave arm 1 is in the automatic operation, the
environment reproducing device 6 directly reproduces the situation
information on the slave arm 1 in real time, may be adopted.
Third Embodiment
[0095] A remote-control manipulator system according to a third
embodiment is configured so that in the remote-control manipulator
system according to the first or second embodiment, the control
device causes, when at least one process out of a plurality of
processes is to be started or once at least one process is ended,
the situation information acquisition device to acquire the
situation information.
[0096] Hereinafter, one example of the remote-control manipulator
system according to the third embodiment is described with
reference to FIG. 6. Note that, since the remote-control
manipulator system 100 according to the third embodiment has a
similar configuration to the remote-control manipulator system 100
according to the first embodiment, detailed description of the
configuration thereof is omitted.
[Operation and Effect of Remote-Control Manipulator System]
[0097] FIG. 6 is a flowchart illustrating operation of the
remote-control manipulator system according to the third
embodiment. Note that, the following operation is executed by the
arithmetic part of the control device 4 reading the program stored
in the memory part or the storage device 5.
[0098] As illustrated in FIG. 6, although the operation of the
remote-control manipulator system 100 according to the third
embodiment is basically the same as the operation of the
remote-control manipulator system 100 according to the first
embodiment, it is different in that Step S101B is executed instead
of Step S101.
[0099] Specifically, the control device 4 determines whether the
automatic operation or the manipulating operation of a certain
process for a given slave arm 1 is ended (Step S101B). More
specifically, the motion controller 42 of the control device 4
determines whether the automatic operation of the given slave arm 1
is ended, or whether the end information on the manipulating
operation of the given slave arm 1 is received via the receiver 40
by the operator manipulating the manipulator 2 etc.
[0100] Note that when a plurality of slave arms 1 are disposed in
the workspace, which slave arm 1 the situation information is to be
acquired for may be determined by the operator manipulating the
manipulator 2 etc., or may suitably be determined by the control
device 4.
[0101] If the motion controller 42 of the control device 4
determines that the automatic operation or the manipulating
operation of the given slave arm 1 is not ended (NO at Step S101B),
it ends this program. Note that, when the control device 4 ends
this program, it again executes this program, for example, after 50
msec. On the other hand, if the motion controller 42 of the control
device 4 determines that the automatic operation or the
manipulating operation of the given slave arm 1 is ended (YES at
Step S101B), it executes processing illustrated at Step S102.
Hereinafter, the operation similar to that of the remote-control
manipulator system 100 according to the first embodiment is
executed.
[0102] Even with the remote-control manipulator system 100
according to the third embodiment configured as above, similar
operations and effects to those of the remote-control manipulator
system 100 according to the first embodiment are obtained.
[0103] Note that in the third embodiment, a form in which, at Step
S101B, the control device 4 determines whether the automatic
operation or the manipulating operation of a certain process is
ended is adopted, but it is not limited to this. For example, a
form in which the control device 4 determines whether to start the
automatic operation or the manipulating operation in a certain
process, or a form in which the control device 4 determines whether
it is a given time or whether a given period of time has elapsed
may be adopted.
Fourth Embodiment
[0104] A remote-control manipulator system according to a fourth
embodiment is configured so that in the remote-control manipulator
system according to one of the first to third embodiments, a
storage device storing work information relating to each process
which the slave arm carries out is further provided, and the
control device identifies the process currently executed by the
slave arm and causes the environment reproducing device to
reproduce, as the environment information, work information on the
process subsequent to the identified process outside the
workspace.
[0105] Furthermore, in the remote-control manipulator system
according to the fourth embodiment, the work information may be at
least one of information in a group comprised of image information
in the workspace, information on sound generated in the workspace,
information on smell generated in the workspace, illumination
information, information on a temperature in the workspace,
information on vibration generated in the workspace, and
information on an operator's posture.
[0106] Hereinafter, one example of the remote-control manipulator
system according to the fourth embodiment is described with
reference to FIGS. 7 and 8.
[Configuration of Remote-Control Manipulator System]
[0107] FIG. 7 is a block diagram illustrating a schematic
configuration of the remote-control manipulator system according to
the fourth embodiment.
[0108] As illustrated in FIG. 7, the remote-control manipulator
system 100 according to the fourth embodiment has the same basic
configuration to the remote-control manipulator system 100
according to the first embodiment, but it is different in that a
work information acquirer 44 is formed in the control device 4 and
work information 53 is stored in the storage device 5.
[0109] The work information acquirer 44 acquires the process
information currently executed by the given slave arm 1 from the
motion controller 42, and identifies the process. Further, the work
information acquirer 44 acquires the work information on the
process subsequent to the identified process from the work
information 53 stored in the storage device 5, and outputs the work
information to the motion controller 42 as the environment
information.
[0110] Note that the work information 53 is at least one of
information in a group comprised of the image information in the
workspace, the information on sound generated in the workspace, the
information on smell generated in the workspace, the information on
light generated in the workspace, the information on the
temperature in the workspace, the information on vibration
generated in the workspace, and the information on the operator's
posture.
[0111] Specifically, the image information in the workspace is
information on the slave arm 1 and its circumference in the
workspace captured as an image by the camera etc. and stored in the
storage device 5. More specifically, the image information in the
workspace is, for example, information on the position or posture
of the slave arm 1 in the workspace, a spatial relationship between
the slave arm 1 and the workpiece, or a spatial relationship
between the slave arm 1 and the assembled component to which the
workpiece is attached, recorded as an image. Further, the image
information in the workspace may be, for example, a pre-captured
image in the workspace or a pre-created image, such as an animation
etc.
[0112] Further, the information on sound generated in the
workspace, the information on smell generated in the workspace and
the information on light generated in the workspace are information
usable in confirming the circumference situation around the slave
arm 1. The information may include sound, smell and light which are
generated when the slave arm 1 is welding, sound which is generated
when the slave arm 1 is painting, smell of the paint, color of the
paint (light reflected on the paint), etc., and these information
is stored in the storage device 5.
[0113] Further, the information on the temperature in the
workspace, the information on vibration generated in the workspace,
and the information on the operator's posture are information
usable in confirming the circumference situation around the slave
arm 1. The information may also include temperature variation
information, such as a rise of the temperature (room temperature)
in the workspace due to the slave arm 1 welding or a drop of the
temperature in the workspace due to the slave arm 1 cleaning the
workpiece, and information on vibration generated when the slave
arm 1 attaches the workpiece to the assembled component. Further,
the information may include information on a posture which the
operator takes when manually executing the process currently
executed by the slave arm 1. Moreover, these information is stored
in the storage device 5.
[Operation and Effect of Remote-Control Manipulator System]
[0114] Next, operation and effect of the remote-control manipulator
system 100 according to the fourth embodiment are described with
reference to FIGS. 7 and 8.
[0115] FIG. 8 is a flowchart illustrating operation of the
remote-control manipulator system 100 according to the fourth
embodiment. Note that, the following operation is executed by the
arithmetic part of the control device 4 reading the program stored
in the memory part or the storage device 5.
[0116] As illustrated in FIG. 8, the control device 4 determines
whether the operator has switched the operation of the slave arm 1
(Step S201). Specifically, the motion controller 42 of the control
device 4 determines whether the information indicating that the
operation is switched from a certain slave arm 1 to another slave
arm 1, that is, information on a manipulation start instruction for
a given slave arm 1, is inputted from the manipulator 2 via the
receiver 40.
[0117] If the motion controller 42 of the control device 4
determines that the information on the manipulation start
instruction is not inputted (NO at Step S201), it ends this
program. Note that, when the control device 4 ends this program, it
again executes this program, for example, after 50 msec. On the
other hand, if the motion controller 42 of the control device 4
determines that the information on the manipulation start
instruction is inputted (YES at Step S201), it executes processing
illustrated at Step S202.
[0118] At Step S202, the control device 4 acquires the situation
information acquired by the situation information acquisition
device 3. Specifically, the receiver 40 receives the situation
information on the given slave arm 1 acquired by the situation
information acquisition device 3, and the motion controller 42
acquires the received situation information.
[0119] Next, based on the situation information acquired at Step
S202, the motion controller 42 of the control device 4 identifies,
when the given slave arm 1 is in operation, the process currently
executed by the given slave arm 1 or, when the given slave arm 1 is
in a manipulating instruction input standby state (manipulation
standby state), the process executed immediately previously (Step
S203).
[0120] Note that the motion controller 42 of the control device 4
may identify the information on the process currently executed by
the given slave arm 1 or the information on the process executed
immediately previously from the motion controller 42. In this case,
the motion controller 42 constitutes the situation information
acquisition device. Further, when the motion controller 42
constitutes the situation information acquisition device, Step S202
may be omitted.
[0121] Next, the control device 4 acquires the work information
relating to the next identification to the process identified at
Step S203 from the work information 53 in the storage device 5
(Step S204). Specifically, the motion controller 42 of the control
device 4 acquires the process subsequent to the process identified
at Step S203 from the operation sequence information 51 in the
storage device 5, and acquires the work information relating to the
subsequent process from the work information 53 in the storage
device 5.
[0122] For example, if the process identified at Step S203 is a
welding process and the subsequent process is a painting process,
the motion controller 42 of the control device 4 acquires
information, such as sound generated when the slave arm 1 is
painting, smell of the paint, the color of the paint (light
reflected on the paint) etc., as the work information.
[0123] Next, the control device 4 outputs the work information
acquired at Step S204 to the environment reproducing device 6 as
the environment information (Step S205). Specifically, the motion
controller 42 of the control device 4 outputs the work information
acquired at Step S204 to the environment reproducing device 6 via
the output controller 43 as the environment information.
[0124] Thus, the environment reproducing device 6 is capable of
reproducing the environment information corresponding to the
situation of the process which the given slave arm 1 executes next
and notifying it to the operator.
[0125] In the remote-control manipulator system 100 according to
the fourth embodiment configured as described above, in order to
reproduce the environment information corresponding to the
situation in the process which the given slave arm 1 executes next,
the operator can grasp the process which the given slave arm 1
executes next more specifically compared with the remote-control
manipulator system according to first embodiment.
[0126] Therefore, in the remote-control manipulator system 100
according to the fourth embodiment, the operator becomes easier to
focus on the remote-controlling work, mistakes of operation are
reduced, and fatigue of the operator is reduced compared with the
remote-control manipulator system according to first embodiment.
Moreover, the work efficiency of the remote control is
improved.
[0127] Note that in the fourth embodiment, although a form in which
whether the operation of the slave arm 1 is switched is determined
at Step S201 is adopted, it is not limited to this. Similarly to
the second embodiment, a form in which whether the acquiring
instruction is inputted from the instruction acquisition device 7
is determined may be adopted, or similarly to the third embodiment,
a form in which whether to start operation of a given slave arm 1,
whether the operation of the given slave arm 1 is ended, etc. is
determined may be adopted.
[0128] It is apparent for a person skilled in the art that many
improvements or other embodiments of the present disclosure are
possible from the above description. Therefore, the above
description is to be interpreted only as illustration, and it is
provided in order to teach a person skilled in the art the best
mode in which the present disclosure is implemented. Details of the
structures and/or functions of the present disclosure may be
substantially changed without departing from the spirit of the
present disclosure.
INDUSTRIAL APPLICABILITY
[0129] Since it is possible to intuitively grasp the current
situation of the slave arm to be manipulated with the
remote-control manipulator system and the method of operating the
same of the present disclosure, they are useful in the field of
industrial robots.
DESCRIPTION OF REFERENCE CHARACTERS
[0130] 1 Slave Arm [0131] 2 Manipulator [0132] 3 Situation
Information Acquisition Device [0133] 4 Control Device [0134] 5
Storage Device [0135] 6 Environment Reproducing Device [0136] 7
Instruction Acquisition Device [0137] 21 Desk [0138] 22 Chair
[0139] 40 Receiver [0140] 41 Environment Information Acquirer
[0141] 42 Motion Controller [0142] 43 Output Controller [0143] 44
Work Information Acquirer [0144] 51 Operation Sequence Information
[0145] 52 Environment Information [0146] 53 Work Information [0147]
61 Display Device [0148] 62 Speaker [0149] 63 Spray Can [0150] 64
Lighting Device [0151] 65 Vibration Device [0152] 66 Posture
Changing Device [0153] 67 Air Conditioner [0154] 100 Remote-control
Manipulator System
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